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mesh_io.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
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* * Redistributions of source code must retain the above copyright
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* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id$
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#pragma once
#include <fstream>
#include <iostream>
#include <sstream>
#include <string>
namespace pcl {
namespace geometry {
/** \brief Read / write the half-edge mesh from / to a file.
* \tparam MeshT e.g. pcl::geometry::TriangleMesh or pcl::geometry::PolygonMesh
* \author Martin Saelzle
* \ingroup geometry
* \todo
* - Only writes the topology (not the mesh data).
* - Supports only ascii.
* - Does not consider the mesh traits (e.g. manifold or not)
*/
template <class MeshT>
class MeshIO {
public:
using Mesh = MeshT;
using Vertex = typename Mesh::Vertex;
using HalfEdge = typename Mesh::HalfEdge;
using Face = typename Mesh::Face;
using Vertices = typename Mesh::Vertices;
using HalfEdges = typename Mesh::HalfEdges;
using Faces = typename Mesh::Faces;
using VertexIndex = typename Mesh::VertexIndex;
using HalfEdgeIndex = typename Mesh::HalfEdgeIndex;
using FaceIndex = typename Mesh::FaceIndex;
/** \brief Constructor. */
MeshIO() = default;
/** \brief Read the mesh from a file with the given filename.
* \param[in] filename Path to the file.
* \param[out] mesh The loaded mesh.
* \return true if success.
*/
bool
read(const std::string& filename, Mesh& mesh) const
{
std::ifstream file(filename.c_str());
if (!file.is_open()) {
std::cerr << "Error in MeshIO::read: Could not open the file '" << filename
<< "'\n";
return (false);
}
// Read the header
std::string line;
unsigned int line_number = 1;
int n_v = -1, n_he = -1, n_f = -1;
if (!std::getline(file, line) || line != "PCL half-edge mesh") {
std::cerr << "Error loading '" << filename << "' (line " << line_number
<< "): Wrong file format.\n";
return (false);
}
++line_number;
if (!std::getline(file, line)) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Number of vertices / half-edges / faces not found.\n";
return (false);
}
{
std::istringstream iss(line);
if (!(iss >> n_v >> n_he >> n_f) || iss.good()) // Don't allow more than 3 en
{
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Could not read the number of vertices / half-edges / faces.\n";
return (false);
}
}
if (n_v < 0 || n_he < 0 || n_f < 0) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Invalid number of vertices / half-edges / faces.\n";
return (false);
}
++line_number;
// Read the vertices.
{
mesh.vertices_.reserve(n_v);
HalfEdgeIndex idx_ohe; // Outgoing half-edge;
for (int i = 0; i < n_v; ++i, ++line_number) {
if (!std::getline(file, line)) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Could not read the line.\n";
return (false);
}
std::istringstream iss(line);
if (!(iss >> idx_ohe) || iss.good()) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Could not read the vertex.\n";
return (false);
}
mesh.vertices_.push_back(Vertex(idx_ohe));
}
}
// Read the half-edges.
{
mesh.half_edges_.reserve(n_he);
VertexIndex idx_tv; // Terminating vertex.
HalfEdgeIndex idx_nhe; // Next half-edge;
HalfEdgeIndex idx_phe; // Previous half-edge.
FaceIndex idx_f; // Face.
for (int i = 0; i < n_he; ++i, ++line_number) {
if (!std::getline(file, line)) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Could not read the line.\n";
return (false);
}
std::istringstream iss(line);
if (!(iss >> idx_tv >> idx_nhe >> idx_phe >> idx_f) || iss.good()) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Could not read the half-edge.\n";
return (false);
}
mesh.half_edges_.push_back(HalfEdge(idx_tv, idx_nhe, idx_phe, idx_f));
}
}
// Read the faces.
{
mesh.faces_.reserve(n_f);
HalfEdgeIndex idx_ihe; // Inner half-edge.
for (int i = 0; i < n_f; ++i, ++line_number) {
if (!std::getline(file, line)) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Could not read the line.\n";
return (false);
}
std::istringstream iss(line);
if (!(iss >> idx_ihe) || iss.good()) {
std::cerr << "Error loading '" << filename << "'' (line " << line_number
<< "): Could not read the face.\n";
return (false);
}
mesh.faces_.push_back(Face(idx_ihe));
}
}
// Set the data
if (Mesh::HasVertexData::value)
mesh.vertex_data_cloud_.resize(n_v);
if (Mesh::HasHalfEdgeData::value)
mesh.half_edge_data_cloud_.resize(n_he);
if (Mesh::HasEdgeData::value)
mesh.edge_data_cloud_.resize(n_he / 2);
if (Mesh::HasFaceData::value)
mesh.face_data_cloud_.resize(n_f);
return (true);
}
/** \brief Write the mesh to a file with the given filename.
* \param[in] filename Path to the file.
* \param[in] mesh The saved mesh.
* \return true if success
*/
bool
write(const std::string& filename, const Mesh& mesh) const
{
std::ofstream file(filename.c_str());
// Write the header
if (!file.is_open()) {
std::cerr << "Error in MeshIO::write: Could not open the file '" << filename
<< "'\n";
return (false);
}
file << "PCL half-edge mesh\n";
file << mesh.sizeVertices() << " " << mesh.sizeHalfEdges() << " "
<< mesh.sizeFaces() << "\n";
// Write the vertices
for (const auto& vertex : mesh.vertices_) {
file << vertex.idx_outgoing_half_edge_ << "\n";
}
// Write the half-edges
for (const auto& edge : mesh.half_edges_) {
file << edge.idx_terminating_vertex_ << " " << edge.idx_next_half_edge_ << " "
<< edge.idx_prev_half_edge_ << " " << edge.idx_face_ << "\n";
}
// Write the faces
for (const auto& face : mesh.faces_) {
file << face.idx_inner_half_edge_ << "\n";
}
return (true);
}
};
} // End namespace geometry
} // End namespace pcl
pcl::geometry::MeshIO::Face
typename Mesh::Face Face
Definition mesh_io.h:66
pcl::geometry::MeshIO::VertexIndex
typename Mesh::VertexIndex VertexIndex
Definition mesh_io.h:72
pcl::geometry::MeshIO::FaceIndex
typename Mesh::FaceIndex FaceIndex
Definition mesh_io.h:74
pcl::geometry::MeshIO::HalfEdges
typename Mesh::HalfEdges HalfEdges
Definition mesh_io.h:69
pcl::geometry::MeshIO::HalfEdgeIndex
typename Mesh::HalfEdgeIndex HalfEdgeIndex
Definition mesh_io.h:73
pcl::geometry::MeshIO::read
bool read(const std::string &filename, Mesh &mesh) const
Read the mesh from a file with the given filename.
Definition mesh_io.h:85
pcl::geometry::MeshIO::Mesh
MeshT Mesh
Definition mesh_io.h:62
pcl::geometry::MeshIO::Faces
typename Mesh::Faces Faces
Definition mesh_io.h:70
pcl::geometry::MeshIO::MeshIO
MeshIO()=default
Constructor.
pcl::geometry::MeshIO::Vertex
typename Mesh::Vertex Vertex
Definition mesh_io.h:64
pcl::geometry::MeshIO::Vertices
typename Mesh::Vertices Vertices
Definition mesh_io.h:68
pcl::geometry::MeshIO::write
bool write(const std::string &filename, const Mesh &mesh) const
Write the mesh to a file with the given filename.
Definition mesh_io.h:216
pcl::geometry::MeshIO::HalfEdge
typename Mesh::HalfEdge HalfEdge
Definition mesh_io.h:65
pcl::geometry
Definition geometry.h:57
pcl
Definition convolution.h:46